#ifndef __YUNTAI_H
#define __YUNTAI_H
#include "stm32f10x.h"
#include "string.h"
#include "stdio.h"
#include "shexiangtou.h"
#include "pid.h"
extern PID_TypeDef yuntai_pid_x; //云台x轴PID
extern PID_TypeDef yuntai_pid_y; //云台y轴PID
void Yuntai_Init(void);
void Yuntai_SendByte(uint8_t data);
void Yuntai_SendString(uint8_t *str);
void Yuntai_sendjiaodu(uint16_t x,uint16_t y);
uint16_t dqian_x_jiaodu(void);
uint16_t dqian_y_jiaodu(void);
void yuntai_STOP(void);
void yuntai_SFLJ(void);
void yuntai_fuwei(void);
void yuntai_xunxian(void);
#endif